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    <h1><a href="index.html" style="text-decoration:none;">Robotic Manipulation</a></h1>
    <p data-type="subtitle">Perception, Planning, and Control</p> 
    <p style="font-size: 18px;"><a href="http://people.csail.mit.edu/russt/">Russ Tedrake</a></p>
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<p pdf="no"><b>Note:</b> These are working notes used for <a
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<chapter class="appendix" style="counter-reset: chapter 1"><h1>DrakeGym Environments</h1>

  <p><a href="https://drake.mit.edu/pydrake/pydrake.gym.html">DrakeGym</a> makes
  it easy to wrap Drake Systems in <a
  href="https://pypi.org/project/gymnasium/">Gymnasium</a> environments. This
  is perhaps the simplest way to explore Drake simulations, and is the natural
  way to interface Drake simulations with machine learning libraries like <a
  href="https://stable-baselines3.readthedocs.io/">Stable Baselines 3</a>.</p>

  <p>I've curated a number of manipulation-related environments in these notes, and will be adding more regularly.</p>

  <section><h1>Box Flipup</h1>

    <p>...</p>

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